From 16b1bd8b9a81dbd538b6fcd60a56c99a56f63670 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Mon, 30 Jan 2023 18:13:09 +0000
Subject: [PATCH] AP_NavEKF3: pre-arm return failure message for correct core

---
 libraries/AP_NavEKF3/AP_NavEKF3.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.cpp b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
index 1b285e12ff..153f6c5421 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
@@ -1136,7 +1136,7 @@ bool NavEKF3::pre_arm_check(bool requires_position, char *failure_msg, uint8_t f
     }
     for (uint8_t i = 0; i < num_cores; i++) {
         if (!core[i].healthy()) {
-            const char *failure = core[primary].prearm_failure_reason();
+            const char *failure = core[i].prearm_failure_reason();
             if (failure != nullptr) {
                 AP::dal().snprintf(failure_msg, failure_msg_len, failure);
             } else {